EP3691733A4 - Steerable catheter flexible robotic system for use with endoscopes - Google Patents

Steerable catheter flexible robotic system for use with endoscopes Download PDF

Info

Publication number
EP3691733A4
EP3691733A4 EP18864891.9A EP18864891A EP3691733A4 EP 3691733 A4 EP3691733 A4 EP 3691733A4 EP 18864891 A EP18864891 A EP 18864891A EP 3691733 A4 EP3691733 A4 EP 3691733A4
Authority
EP
European Patent Office
Prior art keywords
endoscopes
robotic system
steerable catheter
flexible robotic
catheter flexible
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18864891.9A
Other languages
German (de)
French (fr)
Other versions
EP3691733A1 (en
Inventor
Aaron GUNN
Philip WEISSBROD
Michael Yip
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of California
University of California Berkeley
University of California San Diego UCSD
Original Assignee
University of California
University of California Berkeley
University of California San Diego UCSD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of California, University of California Berkeley, University of California San Diego UCSD filed Critical University of California
Publication of EP3691733A1 publication Critical patent/EP3691733A1/en
Publication of EP3691733A4 publication Critical patent/EP3691733A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/0125—Endoscope within endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
    • A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0021—Catheters; Hollow probes characterised by the form of the tubing
    • A61M25/0023—Catheters; Hollow probes characterised by the form of the tubing by the form of the lumen, e.g. cross-section, variable diameter
    • A61M25/0026—Multi-lumen catheters with stationary elements

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Endoscopes (AREA)
EP18864891.9A 2017-10-02 2018-10-02 Steerable catheter flexible robotic system for use with endoscopes Withdrawn EP3691733A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201762567057P 2017-10-02 2017-10-02
PCT/US2018/053952 WO2019070696A1 (en) 2017-10-02 2018-10-02 Steerable catheter flexible robotic system for use with endoscopes

Publications (2)

Publication Number Publication Date
EP3691733A1 EP3691733A1 (en) 2020-08-12
EP3691733A4 true EP3691733A4 (en) 2021-06-02

Family

ID=65995427

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18864891.9A Withdrawn EP3691733A4 (en) 2017-10-02 2018-10-02 Steerable catheter flexible robotic system for use with endoscopes

Country Status (3)

Country Link
US (1) US20200281666A1 (en)
EP (1) EP3691733A4 (en)
WO (1) WO2019070696A1 (en)

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CN110325098A (en) 2016-11-28 2019-10-11 适内有限责任公司 With the endoscope for separating disposable axis
US12318067B2 (en) * 2019-03-04 2025-06-03 Georgia Tech Research Corporation Steerable and flexible robotic endoscopic tools for minimally invasive procedures
EP4065027A4 (en) 2019-11-28 2024-01-03 Microbot Medical Ltd. Modular robotic system for driving movement of surgical tools
USD1018844S1 (en) 2020-01-09 2024-03-19 Adaptivendo Llc Endoscope handle
US12150730B2 (en) * 2020-05-04 2024-11-26 The Regents Of The University Of California Handheld flexible robotic catheter for endoscopic instrumentation
CN116322525A (en) * 2020-06-02 2023-06-23 诺亚医疗集团公司 Systems and methods for robotic endoscopic submucosal dissection
EP4228542A4 (en) * 2020-10-28 2024-10-02 Vicarious Surgical Inc. LAPAROSCOPIC SURGICAL ROBOT SYSTEM WITH INTERNAL JOINT FREEDOM
USD1051380S1 (en) 2020-11-17 2024-11-12 Adaptivendo Llc Endoscope handle
CN112603394B (en) * 2020-12-29 2022-03-22 极限人工智能有限公司 Auxiliary surgical instrument
USD1070082S1 (en) 2021-04-29 2025-04-08 Adaptivendo Llc Endoscope handle
USD1031035S1 (en) 2021-04-29 2024-06-11 Adaptivendo Llc Endoscope handle
USD1066659S1 (en) 2021-09-24 2025-03-11 Adaptivendo Llc Endoscope handle
CN114668432B (en) * 2022-03-29 2024-06-07 吉林大学 Integrated surgical robot for diagnosis and treatment through natural cavity
CN116919321A (en) * 2023-06-25 2023-10-24 上海遥罡智能科技有限公司 Special endoscope matched with surgical robot and power traction system
US20250108189A1 (en) * 2023-09-29 2025-04-03 Covidien Lp Endoluminal robotic catheter control system
CN119257748A (en) * 2024-09-24 2025-01-07 深圳市人工智能与机器人研究院 A surgical robot and a control method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070197896A1 (en) * 2005-12-09 2007-08-23 Hansen Medical, Inc Robotic catheter system and methods
US20090054733A1 (en) * 2007-08-24 2009-02-26 Jacques Francois Bernard Marescaux Articulating Endoscope Instrument
US20170071687A1 (en) * 2014-09-04 2017-03-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
US20170095299A1 (en) * 2015-10-02 2017-04-06 Vanderbilt University Concentric tube robot
WO2018226892A1 (en) * 2017-06-06 2018-12-13 The Regents Of The University Of California Multi-catheter flexible robotic system

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US5052402A (en) * 1989-01-31 1991-10-01 C.R. Bard, Inc. Disposable biopsy forceps
US20050096502A1 (en) * 2003-10-29 2005-05-05 Khalili Theodore M. Robotic surgical device
US11819192B2 (en) * 2004-03-23 2023-11-21 Boston Scientific Scimed, Inc. In-vivo visualization system
US20050272977A1 (en) * 2004-04-14 2005-12-08 Usgi Medical Inc. Methods and apparatus for performing endoluminal procedures
JP4695420B2 (en) * 2004-09-27 2011-06-08 オリンパス株式会社 Bending control device
US8016749B2 (en) * 2006-03-21 2011-09-13 Boston Scientific Scimed, Inc. Vision catheter having electromechanical navigation
US8062211B2 (en) * 2006-06-13 2011-11-22 Intuitive Surgical Operations, Inc. Retrograde instrument
US20090138025A1 (en) * 2007-05-04 2009-05-28 Hansen Medical, Inc. Apparatus systems and methods for forming a working platform of a robotic instrument system by manipulation of components having controllably rigidity
US20090023985A1 (en) * 2007-06-14 2009-01-22 Usgi Medical, Inc. Endoluminal instrument management system
US20090171150A1 (en) * 2007-12-27 2009-07-02 Olympus Corporation Observation unit detachable type endoscope and endoscope main body
US9820719B2 (en) * 2008-06-19 2017-11-21 Cogentix Medical, Inc. Method and system for intrabody imaging
US20110230894A1 (en) * 2008-10-07 2011-09-22 The Trustees Of Columbia University In The City Of New York Systems, devices, and methods for providing insertable robotic sensory and manipulation platforms for single port surgery
US20100137681A1 (en) * 2008-11-21 2010-06-03 Usgi Medical, Inc. Endoscopic instrument management system
WO2011070846A1 (en) * 2009-12-10 2011-06-16 オリンパスメディカルシステムズ株式会社 Medical manipulator
DE102009060718A1 (en) * 2009-12-29 2011-06-30 Richard Wolf GmbH, 75438 Endoscopic instrument
US9770828B2 (en) * 2011-09-28 2017-09-26 The Johns Hopkins University Teleoperative-cooperative robotic system
US10390838B1 (en) * 2014-08-20 2019-08-27 Pneumrx, Inc. Tuned strength chronic obstructive pulmonary disease treatment
KR102888010B1 (en) * 2015-07-21 2025-11-20 지아이 사이언티픽, 엘엘씨 Endoscope accessory with angularly adjustable exit portal
JP7130682B2 (en) * 2017-06-28 2022-09-05 オーリス ヘルス インコーポレイテッド instrument insertion compensation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070197896A1 (en) * 2005-12-09 2007-08-23 Hansen Medical, Inc Robotic catheter system and methods
US20090054733A1 (en) * 2007-08-24 2009-02-26 Jacques Francois Bernard Marescaux Articulating Endoscope Instrument
US20170071687A1 (en) * 2014-09-04 2017-03-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
US20170095299A1 (en) * 2015-10-02 2017-04-06 Vanderbilt University Concentric tube robot
WO2018226892A1 (en) * 2017-06-06 2018-12-13 The Regents Of The University Of California Multi-catheter flexible robotic system

Also Published As

Publication number Publication date
US20200281666A1 (en) 2020-09-10
EP3691733A1 (en) 2020-08-12
WO2019070696A1 (en) 2019-04-11

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